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We present a new model for people guidance in urban settings using one or several mobile robots, that overcomes the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. Although the robots motion is controlled by means of a standard particle filter formulation, the novelty of our approach resides in how the environment and human and robot motions are modelled. In particular we define a "Discrete-Time-Motion"doi:10.1109/iros.2009.5354740 dblp:conf/iros/GarrellSM09 fatcat:cpwitiabbzfvzf2hlyjvd2c7oi